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Throw error if scale attribute is used with an SDF.

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Fixes #1210.

PiperOrigin-RevId: 589101807
Change-Id: I3f2796de3438fbcdaf9221bddc5c9bd82aedb7cb
This commit is contained in:
Alessio Quaglino
2023-12-08 05:40:26 -08:00
committed by Copybara-Service
parent b1a912e9e2
commit 623201ec76
1 changed files with 5 additions and 0 deletions
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src/user/user_mesh.cc
+5
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@@ -296,6 +296,11 @@ void mjCMesh::LoadSDF() {
name.c_str(), id); name.c_str(), id);
} }
if (scale_[0] != 1 || scale_[1] != 1 || scale_[2] != 1) {
throw mjCError(this, "attribute scale is not compatible with SDFs in mesh '%s', (id = %d)",
name.c_str(), id);
}
model->ResolvePlugin(this, plugin_name, plugin_instance_name, &plugin_instance); model->ResolvePlugin(this, plugin_name, plugin_instance_name, &plugin_instance);
const mjpPlugin* plugin = mjp_getPluginAtSlot(plugin_instance->plugin_slot); const mjpPlugin* plugin = mjp_getPluginAtSlot(plugin_instance->plugin_slot);
if (!(plugin->capabilityflags & mjPLUGIN_SDF)) { if (!(plugin->capabilityflags & mjPLUGIN_SDF)) {